arxiv: pdf
Youtube: video
Bilibili: video
The VID-Flight-Platform project contains PCB design files, MCU code, mechanical assembly drawings, onboard ROS workspace for communication and data collection.
git clone https://github.com/ZJU-FAST-Lab/VID-Dataset.git
cd VID-Dataset
catkin_make
source devel/setup.bash
./tools/convertbag.sh [path of the ROS bag]
| Description | Raw topic | Aligned topic | |
|---|---|---|---|
| 1 | Realsense D435 depth image | /camera/depth/image_rect_raw | /synced/depth |
| 2 | Realsense D435 left gray image | /camera/infra1/image_rect_raw | /synced/infra1 |
| 3 | Realsense D435 right gray image | /camera/infra2/image_rect_raw | /synced/infra2 |
| 4 | IMU data with hardware timestamp | /djiros/imu_hwts | /synced/imu |
| 5 | PPS from N3 flight controller | /djiros/pulse | |
| 6 | N3's 1Hz pulse detected by MCU2 | /m100withm3508/cap_n3pps | |
| 7 | D435 camera's 60Hz pulse detected by MCU2 | /m100withm3508/cap_camerapulse | |
| 8 | Target rotor speed of 4 motors | /m100withm3508/target_rpm | /synced/target_rpm |
| 9 | Target current of 4 motors | /m100withm3508/ctrl_current | /synced/ctrl_current |
| 10 | Measured speed and current of motor 1 | /m100withm3508/m3508_m1 | /synced/m3508_m1 |
| 11 | Measured speed and current of motor 2 | /m100withm3508/m3508_m2 | /synced/m3508_m2 |
| 12 | Measured speed and current of motor 3 | /m100withm3508/m3508_m3 | /synced/m3508_m3 |
| 13 | Measured speed and current of motor 4 | /m100withm3508/m3508_m4 | /synced/m3508_m4 |
| 14 | Measured speed of 4 motors | /synced/allrpm | |
| 15 | GPS from N3 flight controller | /djiros/gps | |
| 16 | RTK | /rtk_zhd_parser/GPS | |
| 17 | Ground truth from motion capture system | /vicon/m100/m100 |
The download link in the table is unavailable due to the expiration of the web disk. Please use the link below to download the data set
Download link: Download Link A Download Link B
Password：vid
| Download link | Environment | Feature | Trajectory | Weight (gram) |
Duration (second) |
Imu Imagery |
Dynamical data |
RTK | Ground truth |
Force sensor |
File name | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | Download | Outdoor | Fast, with yaw | Rectangle | 3547.2 | 113.21 | ✔ | ✔ | ✔ | outdoor_rect_fast_3547.2g_113.21s.bag | ||
| 2 | Download | Outdoor | Slow, with yaw | Rectangle | 3547.2 | 175.38 | ✔ | ✔ | ✔ | outdoor_rect_slow_3547.2g_175.38s.bag | ||
| 3 | Download | Outdoor | with yaw | Round | 3541.7 | 147.34 | ✔ | ✔ | ✔ | outdoor_round_yaw_3541.7g_147.34s.bag | ||
| 4 | Download | Outdoor | without yaw | Round | 3541.7 | 105.85 | ✔ | ✔ | ✔ | outdoor_round_noyaw_3541.7g_105.85s.bag | ||
| 5 | Download | Outdoor | with yaw | 8-character | 3541.7 | 184.29 | ✔ | ✔ | ✔ | outdoor_8_yaw_3541.7g_184.29s.bag | ||
| 6 | Download | Outdoor | without yaw | 8-character | 3541.4 | 243.73 | ✔ | ✔ | ✔ | outdoor_8_noyaw_3541.4g_243.73s.bag | ||
| 7 | Download | Night | Fast, with yaw | Rectangle | 3460.0 | 133.58 | ✔ | ✔ | ✔ | night_rect_fast_3460.0g_133.58.bag | ||
| 8 | Download | Night | Slow, with yaw | Rectangle | 3541.6 | 179.48 | ✔ | ✔ | ✔ | night_rect_slow_3541.6g_179.48s.bag | ||
| 9 | Download | Night | without yaw | Round | 3541.6 | 82.07 | ✔ | ✔ | ✔ | night_round_no_yaw_3541.6g_82.07s.bag | ||
| 10 | Download | Night | without yaw | 8-character | 3547.7 | 121.87 | ✔ | ✔ | ✔ | night_8_noyaw_3547.7g_121.87s.bag | ||
| 11 | Download | Indoor | Loadless | Hovor | 3096.1 | 79.04 | ✔ | ✔ | ✔ | indoor_loadless_hovor_3096.1g_79.04s.bag | ||
| 12 | Download | Indoor | Loadless | Round | 3096.1 | 117.89 | ✔ | ✔ | ✔ | indoor_loadless_round_3096.1g_117.89s.bag | ||
| 13 | Download | Indoor | Loadless | 8-character | 3096.1 | 109.17 | ✔ | ✔ | ✔ | indoor_loadless_8_3096.1g_109.17s.bag | ||
| 14 | Download | Indoor | Loaded | Hovor | 3372.2 | 80.11 | ✔ | ✔ | ✔ | indoor_loaded_hovor_3103.2g_load269.0g_80.11s.bag | ||
| 15 | Download | Indoor | Loaded | Round | 3372.2 | 107.15 | ✔ | ✔ | ✔ | indoor_loaded_round_3103.2g_load269.0g_107.15s.bag | ||
| 16 | Download | Indoor | Loaded | 8-character | 3372.2 | 138.41 | ✔ | ✔ | ✔ | indoor_loaded_8_3103.2g_load269.0g_138.41s.bag | ||
| 17 | Download | Indoor | Rope pulled | Random | 3101.5 | 126.53 | ✔ | ✔ | ✔ | ✔ | indoor_sensor_fast_3101.5g_126.53s.bag | |
| 18 | Download | Indoor | Rope pulled | Random | 3101.5 | 155.38 | ✔ | ✔ | ✔ | ✔ | indoor_sensor_slow_3101.5g_155.38s.bag | |
| 19 | Download | Motor test | 45.04 | ✔ | ✔ | channel_1.bag | ||||||
| 20 | Download | Motor test | 45.08 | ✔ | ✔ | channel_2.bag | ||||||
| 21 | Download | Motor test | 43.00 | ✔ | ✔ | channel_3.bag | ||||||
| 22 | Download | Motor test | 43.84 | ✔ | ✔ | channel_4.bag |